% Copyright 2020 Makani Technologies LLC
%
% Licensed under the Apache License, Version 2.0 (the "License");
% you may not use this file except in compliance with the License.
% You may obtain a copy of the License at
%
%      http://www.apache.org/licenses/LICENSE-2.0
%
% Unless required by applicable law or agreed to in writing, software
% distributed under the License is distributed on an "AS IS" BASIS,
% WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
% See the License for the specific language governing permissions and
% limitations under the License.

function [ins, out] = ins_step_wheel(ins, xhat_1, data, out)
p = ins.param;
xhat = ins_xhat_interpolate(p, xhat_1, ins.xhat, data.t);

% Apply virtual corrections while stationary.
if sum(data.valid) == 4 && norm(data.speed) < p.stationary.max_velocity ...
    && xhat.t - ins.t_stationary > p.stationary.update_period
  [ins.dx, out] = ins_correct_stationary(p, xhat, ins.dx, ins.inputs, out);
  ins.t_stationary = xhat.t;
end

if xhat.t - ins.t_wheel > p.wheel.update_period
  ins.t_wheel = xhat.t;
  [ins.dx, out] = ins_correct_wheel(ins.param, xhat, ins.dx, ins.inputs, ...
                                    data, out);
end
